While legged locomotion systems possess obvious advantages for the negotiation of certain types of terrain, the difficulty of the limb coordination control problem has retarded the development of practical machines of this type. This paper shows that it is possible to obtain limb coordination by electronic means and suggests that some of the ideas used for the design of aircraft autopilots are applicable to land locomotion situations. The equations of motion for an automatically controlled artificial quadruped are presented with both experimental and computer simulation results.
Some Considerations Relating to the Design of Autopilots for Legged Vehicles
1969
15 pages
Report
Keine Angabe
Englisch
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